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--- pm:prj2026:bianca.popa1106:stefan.alexe0308 [2026/05/08 20:47]
stefan.alexe0308 created
+++ pm:prj2026:bianca.popa1106:stefan.alexe0308 [2026/05/23 17:49] (current)
stefan.alexe0308
@@ Line 50: / Line 50: @@
                               (8x 18650 Li-ion, dual USB out)
 </code>
+==== Current wiring ====
+{{:pm:prj2026:bianca.popa1106:miguel_top.jpeg?200|}}
 ==== Components List ====
@@ Line 114: / Line 118: @@
 ==== Direction Estimation ====
-Direction of the incoming voice is estimated by comparing the **amplitude (RMS)** of the signal captured by each microphone in the same time window. If the left mic has a higher RMS, Miguel turns left; if the right mic dominates, he turns right.
+Direction of the incoming voice is estimated by comparing the **amplitude (RMS)** of the signal captured by searching for the phase dissonance between the two microphones, to lower the search space we only look until the theoretical maximum distance (mic distance/speed of sound)
 ==== Presence Tracking (VL53L0X) ====
@@ Line 122: / Line 126: @@
 ==== Audio Playback ====
-The DY-SV17F module stores WAV files on a micro SD card and is controlled via serial UART commands. When Miguel hears his name, the ESP32 sends a play command:
+The DY-SV17F module stores WAV files on a micro SD card and is controlled via serial UART commands. When Miguel hears his name, the ESP32 sends a play command.
+==== GitHub link ====
+https://github.com/Claudiu10101/Miguel